Closing the gap between industrial robots and underwater manipulators

Satja Sivcev; Joseph Coleman; David Adley; Gerard Dooly; Edin Omerdic; Daniel Toal

doi:10.23919/oceans.2015.7404563

Closing the gap between industrial robots and underwater manipulators

Satja Sivcev
, Joseph Coleman
, David Adley
, Gerard Dooly
, Edin Omerdic
, Daniel Toal

University of Limerick

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Underwater robot manipulators mounted on work class ROVs are extensively used in a wide range of subsea intervention applications. Unlike the automated stationary robot arms used in factories, commercial underwater manipulators are tele-operated by human pilot in the loop. In this paper we describe investigations, development and adaptation of robot manipulator servo control approaches common for light assembly tasks in industry and the transfer of these techniques to marine robotics.

Original language	English
Title of host publication	OCEANS 2015 - MTS/IEEE Washington
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9780933957435
DOIs	https://doi.org/10.23919/oceans.2015.7404563
Publication status	Published - 8 Feb 2016
Event	MTS/IEEE Washington, OCEANS 2015 - Washington, United States Duration: 19 Oct 2015 → 22 Oct 2015

Publication series

Name	OCEANS 2015 - MTS/IEEE Washington

Conference

Conference	MTS/IEEE Washington, OCEANS 2015
Country/Territory	United States
City	Washington
Period	19/10/15 → 22/10/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

closed-loop inverse kinematics
underwater intervention
underwater manipulator

Access to Document

10.23919/oceans.2015.7404563

Cite this

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title = "Closing the gap between industrial robots and underwater manipulators",

abstract = "Underwater robot manipulators mounted on work class ROVs are extensively used in a wide range of subsea intervention applications. Unlike the automated stationary robot arms used in factories, commercial underwater manipulators are tele-operated by human pilot in the loop. In this paper we describe investigations, development and adaptation of robot manipulator servo control approaches common for light assembly tasks in industry and the transfer of these techniques to marine robotics.",

keywords = "closed-loop inverse kinematics, underwater intervention, underwater manipulator",

author = "Satja Sivcev and Joseph Coleman and David Adley and Gerard Dooly and Edin Omerdic and Daniel Toal",

note = "Publisher Copyright: {\textcopyright} 2015 MTS.; MTS/IEEE Washington, OCEANS 2015 ; Conference date: 19-10-2015 Through 22-10-2015",

year = "2016",

month = feb,

day = "8",

doi = "10.23919/oceans.2015.7404563",

language = "English",

series = "OCEANS 2015 - MTS/IEEE Washington",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "OCEANS 2015 - MTS/IEEE Washington",

}

Sivcev, S, Coleman, J, Adley, D, Dooly, G , Omerdic, E & Toal, D 2016, Closing the gap between industrial robots and underwater manipulators. in OCEANS 2015 - MTS/IEEE Washington., 7404563, OCEANS 2015 - MTS/IEEE Washington, Institute of Electrical and Electronics Engineers Inc., MTS/IEEE Washington, OCEANS 2015, Washington, United States, 19/10/15. https://doi.org/10.23919/oceans.2015.7404563

Closing the gap between industrial robots and underwater manipulators. / Sivcev, Satja; Coleman, Joseph; Adley, David et al.
OCEANS 2015 - MTS/IEEE Washington. Institute of Electrical and Electronics Engineers Inc., 2016. 7404563 (OCEANS 2015 - MTS/IEEE Washington).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Closing the gap between industrial robots and underwater manipulators

AU - Sivcev, Satja

AU - Coleman, Joseph

AU - Adley, David

AU - Dooly, Gerard

AU - Omerdic, Edin

AU - Toal, Daniel

PY - 2016/2/8

Y1 - 2016/2/8

N2 - Underwater robot manipulators mounted on work class ROVs are extensively used in a wide range of subsea intervention applications. Unlike the automated stationary robot arms used in factories, commercial underwater manipulators are tele-operated by human pilot in the loop. In this paper we describe investigations, development and adaptation of robot manipulator servo control approaches common for light assembly tasks in industry and the transfer of these techniques to marine robotics.

AB - Underwater robot manipulators mounted on work class ROVs are extensively used in a wide range of subsea intervention applications. Unlike the automated stationary robot arms used in factories, commercial underwater manipulators are tele-operated by human pilot in the loop. In this paper we describe investigations, development and adaptation of robot manipulator servo control approaches common for light assembly tasks in industry and the transfer of these techniques to marine robotics.

KW - closed-loop inverse kinematics

KW - underwater intervention

KW - underwater manipulator

UR - https://www.scopus.com/pages/publications/84963972075

U2 - 10.23919/oceans.2015.7404563

DO - 10.23919/oceans.2015.7404563

M3 - Conference contribution

AN - SCOPUS:84963972075

T3 - OCEANS 2015 - MTS/IEEE Washington

BT - OCEANS 2015 - MTS/IEEE Washington

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - MTS/IEEE Washington, OCEANS 2015

Y2 - 19 October 2015 through 22 October 2015

ER -

Closing the gap between industrial robots and underwater manipulators

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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